| 摘要 |
The present invention enables a variation in vehicle deceleration to be suppressed irrespective of the state of downstream stiffness when switching control of an electric motor from position control to hydraulic pressure control. Even when a variation in the downstream stiffness has occurred in a brake fluid pressure circuit due to unevenness of a caliper constituting a part of a wheel cylinder and the temperature, wear condition, and degradation of a friction pad, calculation processing for calculating a switching reference operation amount, switching operation amount deviation calculation processing for calculating a deviation from the switching reference operation amount, operation amount offset processing for offsetting a pedal operation amount detected by an operation amount detection means, target hydraulic pressure calculation processing for calculating a target hydraulic pressure using the offset operation amount and reference hydraulic pressure characteristics, and control of the electric motor (21) in accordance with the target hydraulic pressure are performed. Consequently, the reference hydraulic pressure characteristics are changed in accordance with the variation in the downstream rigidity, thereby restricting an excessive amount of movement of a primary piston. |
